Opener Shaun Harland was the hero, carrying his bat for 82 not out and being there at the end when captain Danny Foxton bagged a match-winning single off the final delivery.
Pickering, third in the league, had won the toss and elected to bat, with opener Mark Shepherd (25) and, later, Craig Aconely (39) the top scorers in a challenging total of 144-5.
However, energetic fielding throughout crucially kept the score down, with catches also taken by Josh Raines, Ryan Gaughan and Harland and run-outs coming from Ollie Varey and Harland.
Young Harland showed immense skill in the reply, not least in the last over.
Malton needed 10 to win and two dot balls either side of a four kept the game on a knife-edge.
Excellent running brought five runs from the next two balls, though, and Foxton's single won it.
In the Division Two Cup final, champions elect Burythorpe - with Matt Beckett at the forefront - produced a good all-round performance to defeat a nine-man Great Habton outfit and claim the Burgess Cup.
Openers David Bradshaw (20) and Beckett (34), who captains Stamford Bridge in the York & District Senior League's top tier, gave them a solid start and Andy Milner (26) provided some impetus in a total of 115-5 from 12 overs.
Great Habton looked in contention and, at the start of their reply, picked up singles well to create some pressure.
But Burythorpe used their slow bowlers well, taking pace off the ball and making the batters take risks. From 20-0, they crashed to 44 all out, Ben Gill top-scoring with 13 as Beckett (4-6) and David Bradshaw (3-17) made rapid inroads.
Malton & Old Malton remained at the foot of division one later in the week, though, as they fell to leaders Kirkbymoorside by three wickets in a low scoring affair.
Pickering bounced back from their final blow to beat Settrington by 10 runs.
Mike Brown dominated Pickering's innings with 76 in their 152, the next highest scorer being 19 extras, as Callum Stark took 4-32.
Although Stephen Beal (40), the division's leading run-scorer, and captain George Rounthwaite (38) made runs in Setty's reply, it wasn't enough.
Harome, strengthened by the return of veteran Phil Marwood, stayed on Kirkbymoorside's tail with a four-wicket victory over Hovingham - despite Mark Haines going for 49 off his four overs.
In division two, Burythorpe beat Whitwell by 48 runs as Beckett showed his class by posting 52 not out before destroying the Whitwell innings with 7-11.
Burythorpe now need one point to complete the double.
Charlie Allott played an array of unconventional hard-hit shots to make 43 and see second-placed Nawton Grange to a six-wicket victory at Westow.
Ali Fothergill (42) and Jamie Smith (36) had earlier put Westow into a good position but wickets then began to fall and their total of 118-7 was below-par.
Great Habton stayed hard on their heel as openers Ben Gill (81) and Mark Fisher (57) put on 130 in a 16-overs total of 175-4 to set up a 17-run win over Ampleforth.
Mark Wilkie (59), John Casey (31) and, with a late quick-fire 22, Chilton, did well in Ampleforth's reply, but they ended short.